Accessing files on XP through Windows 7

I had installed windows 7 on a partitioned drive as windows xp. Now I'm liking 7 but the problem I'm facing is that I want to transfer some files from XP to 7. Now I figured how to gain access to the files/folders on xp but i can't copy them over to 7. Every time I try I get a message that I don't have permission. So what i end up doing is having to log on to XP and then copy the folder to the drive that I have 7 on. It get's a little annoying after awhile and was wondering if there was an easier way.